CN105857642A - Folding beam structure-based multi-degree of freedom passive vibration isolation device for spacecraft flywheel - Google Patents
Folding beam structure-based multi-degree of freedom passive vibration isolation device for spacecraft flywheel Download PDFInfo
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- CN105857642A CN105857642A CN201610227174.0A CN201610227174A CN105857642A CN 105857642 A CN105857642 A CN 105857642A CN 201610227174 A CN201610227174 A CN 201610227174A CN 105857642 A CN105857642 A CN 105857642A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
- B64G1/38—Guiding or controlling apparatus, e.g. for attitude control damping of oscillations, e.g. nutation dampers
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Abstract
The present invention provides a folding beam structure-based multi-degree of freedom passive vibration isolation device for a spacecraft flywheel. The vibration isolation device is mainly composed of an installation platform, folded beam vibration isolation units, an installation base and the like. The vibration isolation device is installed between the spacecraft flywheel and an spacecraft body structure, and used for reducing the influence, on stability and precision of the spacecraft platform, of additional high-frequency micro-vibration disturbance generated in the working process of the flywheel under the premise of not influencing the attitude control performance of the spacecraft flywheel, and reducing the work environment noise of satellite-borne sensitive loads.
Description
Technical field
The present invention relates to spacecraft structure vibration passive vibration isolation technical field, be specifically related to a kind of spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure.
Background technology
One of lofty stance degree of stability key being to ensure that high-resolution imaging of spacecraft.Important actuator as spacecraft attitude control system, spacecraft flywheel is constantly in high speed rotating state, due to factors such as rotor unbalance, bearing defect, driving motor output torque pulsation, make it also along with exporting the same frequency relevant to its rotating speed and higher hamonic wave perturbed force while output normal attitude control moment, it it is the one of the main reasons causing satellite platform tremor, have a strong impact on spacecraft attitude stabilization precision, reduce the image quality of spaceborne sensitive load (such as camera etc.).
But, will be by improving the manufacturing process of spacecraft flywheel rotor further, or the method for designing improving original structure reduces the perturbed force output of spacecraft flywheel, not only need to expend huge manpower, financial resources and material resources, it is difficult in short time, and the complexity of spacecraft flywheel structure can be increased so that it is reliability reduces.
Summary of the invention
It is an object of the invention to provide a kind of spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure, this invention solves existing spacecraft flywheel also can the technical problem of output disturbance power while running.
The present invention provides a kind of spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure, including the mounting platform for supporting spacecraft flywheel, multiple vibration isolation unit for buffering the produced perturbed force of spacecraft flywheel and multiple bearing unit for supporting spacecraft flywheel, the one side of mounting platform is installed on the bottom surface of spacecraft flywheel, and another side is connected with vibration isolation unit；The one side of bearing unit is connected with vibration isolation unit, and another side is connected with spacecraft cabin；Vibration isolation unit is the folded beam structure being made up of elastomeric material, and vibration isolation unit is symmetrical around the central axis of spacecraft flywheel, and vibration isolation unit central shaft and spacecraft flywheel multiple degrees of freedom passive vibration isolation device central shaft based on folded beam structure acutangulate setting.
Further, vibration isolation unit includes the stage+module part for being connected, folded beam and for the support mount being connected with bearing unit, the two ends of folded beam connecting platform installed part and support mount respectively with mounting platform.
Further, folded beam includes the most connected head-to-tail first beam, the second beam, the 3rd beam, the 4th beam, the 5th beam, the 6th beam and the 7th beam, and the first end of the first beam is connected with support mount, and the tail end of the 7th beam is connected with stage+module part；The length of each even numbers beam is equal and is all higher than the length of each odd number beam.
Further, vibration isolation unit is made up of nylon.
Further, vibration isolation unit totally four, four limits of mounting platform it are arranged symmetrically in by square in configuration.
Further, stage+module part is the flat board being obliquely installed and being provided with multiple through hole in the surface of folded beam one end.
Further, mounting platform includes rectangular platform body and the multiple inclination mounting blocks being arranged on platform body surrounding sidewall, tilt mounting blocks one side to be connected with the surrounding sidewall of platform body for plane, stretch out the side outside platform body and be provided with the oblique installed surface for being connected with stage+module part.
Further, the two ends of support mount are arranged with insertion plate, insert and offer groove on plate.
Further, bearing unit includes support body, and support body is provided with installation inclined-plane towards the side of spacecraft isolation mounting, offers adjustment tank in the support body installing inclined-plane, adjustment tank with offer groove on insertion plate and align installation.
The technique effect of the present invention:
The present invention provides spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure by a set of isolation mounting additional on spacecraft flywheel installed surface, intercept spacecraft flywheel high frequency components power to the transmission of spacecraft body other parts, thus realize the obstruct to flywheel disturbance output, reduce the disturbance produced in flywheel running to the impact of other devices on spacecraft, raising spacecraft attitude stabilization precision.
The present invention provide to spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure can isolate while the gesture stability moment that spacecraft flywheel produces is delivered on spacecraft body spacecraft flywheel generation micro-vibrational perturbation power.Spacecraft flywheel multiple degrees of freedom passive vibration isolation device volume based on folded beam structure, quality that the present invention provides are little, little to spacecraft original structure added influence, and without additional source of energy, easily realize.
Specifically refer to the described below, by apparent for the above and other aspect making the present invention of the various embodiments that spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure according to the present invention proposes.
Accompanying drawing explanation
Fig. 1 is that preferred embodiment of the present invention spacecraft based on folded beam structure flywheel multiple degrees of freedom passive vibration isolation device uses view；
Fig. 2 is that preferred embodiment of the present invention spacecraft based on folded beam structure flywheel multiple degrees of freedom passive vibration isolation device uses state decomposition schematic diagram；
Fig. 3 is that preferred embodiment of the present invention spacecraft based on folded beam structure flywheel multiple degrees of freedom passive vibration isolation device is installed on spacecraft view；
Fig. 4 is preferred embodiment of the present invention vibration isolation unit schematic perspective view；
Fig. 5 is preferred embodiment of the present invention vibration isolation unit schematic front view；
Fig. 6 is preferred embodiment of the present invention mounting platform installment state schematic front view；
Fig. 7 is preferred embodiment of the present invention mounting platform schematic perspective view；
Fig. 8 is preferred embodiment of the present invention bearing unit schematic perspective view；
Fig. 9 is preferred embodiment of the present invention spacecraft based on folded beam structure flywheel multiple degrees of freedom passive vibration isolation device FEM (finite element) model schematic diagram；
Figure 10 is that the preferred embodiment of the present invention verifies that in example, the frequency of coupled system is along with the change schematic diagram of Speed of Reaction Wheels, Campbell chart；
Figure 11 is to install the spacecraft flywheel Radial Perturbation power schematic diagram before and after spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure in preferred embodiment of the present invention checking example, a) represents and installs spacecraft flywheel Radial Perturbation power schematic diagram before spacecraft flywheel based on folded beam structure multiple degrees of freedom passive vibration isolation device；Spacecraft flywheel based on folded beam structure spacecraft flywheel Radial Perturbation power schematic diagram after multiple degrees of freedom passive vibration isolation device is installed in figure b) expression；
Figure 12 is to install the spacecraft flywheel axial perturbed force schematic diagram before and after spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure in preferred embodiment of the present invention checking example, a) represents and installs spacecraft flywheel axial perturbed force schematic diagram before spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure；Spacecraft flywheel axial perturbed force schematic diagram after figure b) expression installation spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure；
Figure 13 is to install the radially fundamental frequency perturbed force schematic diagram of the spacecraft flywheel before and after spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure in preferred embodiment of the present invention checking example, a) represents and installs spacecraft flywheel radially fundamental frequency perturbed force ground test result schematic diagram before spacecraft flywheel based on folded beam structure multiple degrees of freedom passive vibration isolation device；Spacecraft flywheel based on the folded beam structure radially fundamental frequency perturbed force simulation result schematic diagram of spacecraft flywheel after multiple degrees of freedom passive vibration isolation device is installed in figure b) expression.
Marginal data:
100, spacecraft flywheel；210, mounting platform；211, mounting blocks is tilted；212, platform body；220, vibration isolation unit；221, support mount；222a, the first beam；222b, the second beam；222c, the 3rd beam；222d, the 4th beam；222e, the 5th beam；222f, the 6th beam；222g, the 7th beam；223, stage+module part；230, bearing unit；231, support body；232, inclined-plane is installed；233, adjustment tank；300, mounting blocks.
Detailed description of the invention
The accompanying drawing of the part constituting the application is used for providing a further understanding of the present invention, and the schematic description and description of the present invention is used for explaining the present invention, is not intended that inappropriate limitation of the present invention.
Seeing Fig. 1, the spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure that the present invention provides is arranged between spacecraft flywheel 100 and spacecraft cabin.Flywheel is installed on this isolation mounting, and this isolation mounting is connected with spacecraft cabin again, thus realizes the perturbed force that flywheel produces in high-speed rotation and will not be directly conducted on spacecraft.Thus disturbance is to the interference effect of other devices on spacecraft during decreasing flywheel use.Improve the properties of spacecraft during flywheel uses.
See Fig. 2～3, the spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure that the present invention provides is for supporting the mounting platform 210 of spacecraft flywheel 100, multiple vibration isolation unit 220 for buffering the produced perturbed force of spacecraft flywheel 100 and multiple bearing unit 230 for supporting spacecraft flywheel 100, the one side of mounting platform 210 is installed on the bottom surface of spacecraft flywheel 100, and another side is connected with vibration isolation unit 220；The one side of bearing unit 230 is connected with vibration isolation unit 220, and another side is connected with spacecraft cabin；The folded beam structure that vibration isolation unit 220 is made up of elastomeric material, vibration isolation unit 220 is symmetrical around the central axis of spacecraft flywheel 100, and vibration isolation unit 220 central shaft and spacecraft flywheel multiple degrees of freedom passive vibration isolation device central shaft based on folded beam structure acutangulate setting
Flywheel is fixed on mounting platform 210, and mounting platform 210 is supported by four Low rigidity (i.e. elastomeric material) the folded beam vibration isolation unit 220 symmetrical around flywheel central axis.Each folded beam vibration isolation unit 220 is made up of seven sections of elastic short beams, so that isolation mounting realizes the anti-vibration performance specified, meets the vibration isolation demand of dissimilar spacecraft flywheel 100.Additionally, due to folded beam vibration isolation unit 220 is symmetrical around flywheel central axis, the center of rigidity of isolation mounting is positioned on this central axis, therefore, and can be by adjusting the setting angle of vibration isolation unit 220, it is achieved the radial direction translation of system and the decoupling of oscillating motion.Elastomeric material can be that nylon, politef etc. have resilient macromolecular material herein.
See Fig. 4～5 preferred, vibration isolation unit 220 includes the stage+module part 223 for being connected, folded beam and for the support mount 221 being connected with bearing unit 230, the two ends of folded beam connecting platform installed part 223 and support mount 221 respectively with mounting platform 210.Connecting spacecraft cabin and flywheel by folded beam, the disturbance buffering produced when can be run by flywheel is disperseed rather than is directly conducted on spacecraft cabin.
Stage+module part 223 is the installation component that can mate with mounting platform 210, preferably sees Fig. 4, and stage+module part 223 is the flat board being obliquely installed and being provided with multiple through hole in the surface of folded beam one end.Support mount 221 is can be with the component of bearing unit 230 Matching installation, it is preferred that see Fig. 4, and the two ends of support mount 221 are arranged with insertion plate, inserts and offers groove on plate.This groove is inserting extension formation long through-hole on plate.
Participate in Fig. 5, preferably, folded beam includes the most connected head-to-tail first beam 222a, the second beam 222b, the 3rd beam 222c, the 4th beam 222d, the 5th beam 222e, the 6th beam 222f and the 7th beam 222g, first end of the first beam 222a is connected with support mount 221, the tail end of the 7th beam 222g is connected with stage+module part 223, and the length of each even numbers beam is equal and is all higher than the length of each odd number beam.I.e. first beam 222a, the 3rd beam 222c, the 5th beam 222e and the 7th beam 222g length equal.Second beam 222b, the 4th beam 222d and the 6th beam 222f length equal.And first the length of beam 222a less than the second beam 222b, by that analogy.Use this structure, then coordinate the setting angle of vibration isolation unit 220, the disturbance produced when can effectively disperse flywheel to run.Can change the frequency response curve of spacecraft flywheel 100 and the total system of isolation mounting composition, the high frequency components making spacecraft flywheel 100 produce is delivered to the perturbed force of spacecraft body after isolation mounting and greatly decays.The configuration bent by it of vibration isolation unit 220, is added the length of beam in limited spatial dimension, thus reduces the purpose of vibration isolation unit 220 rigidity.
Preferably, vibration isolation unit 220 is made up of nylon.Now vibration isolating effect reaches optimum.
Preferably, vibration isolation unit 220 totally four, four limits of mounting platform 210 it are arranged symmetrically in by square in configuration.
See Fig. 6～7, preferably, mounting platform 210 includes rectangular platform body 212 and the multiple inclination mounting blocks 211 being arranged on platform body 212 surrounding sidewall, tilt mounting blocks 211 one side to be connected with the surrounding sidewall of platform body 212 for plane, stretch out the side outside platform body 212 and be provided with the oblique installed surface for being connected with vibration isolation unit 220.Use this structure on the one hand end face of platform body 212 to be provided with platform to be connected with flywheel, and for Flywheel, the inclination mounting blocks 211 on platform body 212 sidewall provides mounting plane for being obliquely installed vibration isolation unit 220 simultaneously.Mounting platform 210 is aluminum alloy materials, and which is provided with multiple engraved structure, reduces quality and is suitable to use on star.
Seeing Fig. 8, bearing unit 230 includes support body 231, and the side of the spacecraft isolation mounting that support body 231 provides towards the present invention is provided with installation inclined-plane 232, offers adjustment tank 233 in the support body 231 installing inclined-plane 232.Installing that inclined-plane 232 is parallel with the installed surface of support mount 221 mates, the groove on support mount 221 aligns with adjustment tank 233, it is simple to the installation site of adjustment vibration isolation unit 220.Being connected with nacelle for ease of bearing unit 230, support body 231 is arranged on installing plate, and installing plate is connected with spacecraft cabin by mounting blocks 300.
In order to verify the effect of isolation mounting, for certain type spacecraft flywheel design and development isolation mounting.The range of speeds of this spacecraft flywheel is 0-6000rev/ minute, and maximum functional rotating speed is 6000rev/ minute.Set up isolation mounting as follows with the integrated dynamic model of spacecraft flywheel,
Wherein, psRepresent spacecraft flywheel mounting platform moving displacement in isolation mounting, thenWithRepresent movement velocity and acceleration respectively；Sytem matrix M, C, G and K are respectively flywheel and the quality of isolation mounting coupled system, damping, gyroscopic effect and stiffness matrix, can be expressed as follows:
C=diag [Cp cf], K=diag [Kp kf]。
Wherein, isolation mounting is discrete by Finite Element Method, obtains FEM (finite element) model as shown in Figure 9.Utilize institute's established model, coupled system is carried out the anti-vibration performance analysis of structural dynamic characteristics analysis and isolation mounting.Table 1 is respectively structural natural frequencies and the mode being obtained coupled system by simulation calculation and experimental test.Maximum error is along rotor rotation axial spring mode, and this is ground experiment mainly due to this experiment, and rotor axis of rotation direction of principal axis is parallel with gravity direction, affected by gravity, and structure deforms, thus have impact on the natural frequency of system.In addition, the simulation result of the natural frequency in other directions and test result are closely, it was demonstrated that the correctness of the Dynamic Model of Coupling System that the present invention is set up.Form medium frequency unit is Hz.
Table 1 simulation calculation and experimental test obtain structural natural frequencies and the mode result table of coupled system
| Single order | Second order | Three rank | Quadravalence | Five rank | Six rank | Seven rank | |
| Mode | Translation | Translation | Spring | Reverse | Wave | Wave | Local mode |
| Emulation (flywheel is static) | 4.0250 | 4.0250 | 12.6186 | 13.4057 | 19.6003 | 19.6003 | 292.3457 |
| Emulation (flywheel turns) | 2.4597 | 5.5693 | 12.6186 | 13.0521 | 13.4057 | 34.8084 | |
| Ground test result | 4.02 | 4.02 | 10.76 | 13.38 | 18.98 | 18.98 | / |
| Error | 0.12% | 0.12% | 17.27% | 0.19% | 3.27% | 3.27% | / |
The frequency of coupled system along with Speed of Reaction Wheels situation of change (i.e. Campbell chart) as shown in Figure 10.
After the isolation mounting that the present invention provides is installed, in the range of speeds of counteraction flyback 0～6000rev/ minute, as is illustrated by figs. 11 and 12, the Radial Perturbation power of spacecraft flywheel and the axial perturbed force of spacecraft flywheel are all effectively suppressed, and illustrate that the vibration isolating effect of the spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure that the present invention provides is the best.Particularly to the frequency multiplication disturbance vibration isolating effect of HFS clearly, the fundamental frequency disturbance in low-frequency range is also improved.See Figure 13, for fundamental frequency perturbed force, at 3000rev/ minute, be 1.972N without radial direction output disturbance power during vibration isolation, and install the present invention provide spacecraft isolation mounting after Radial Perturbation power be 0.1295N, vibration isolation efficiency is up to more than 90%.
Present configuration is simple, notable to flywheel high frequency tremor perturbed force attenuating, and without extra power supply, is suitable for the space environment strict to power consumption requirements.
Those skilled in the art will understand that the scope of the present invention is not restricted to example discussed above, it is possible to it is carried out some changes and amendment, the scope of the present invention limited without deviating from appended claims.Although oneself is through illustrating and describing the present invention the most in detail, but such explanation and description are only explanations or schematic, and nonrestrictive.The present invention is not limited to the disclosed embodiments.
By to accompanying drawing, the research of specification and claims, it will be appreciated by those skilled in the art that and realize the deformation of the disclosed embodiments when implementing the present invention.In detail in the claims, term " includes " being not excluded for other steps or element, and indefinite article " " or " a kind of " are not excluded for multiple.The fact that some measure quoted in mutually different dependent claims do not mean that the combination of these measures can not be advantageously used.Any reference marker in claims is not construed to limit the scope of the present.
Claims (9)
1. a spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure, it is characterised in that include for supporting
The mounting platform of described spacecraft flywheel, multiple vibration isolation unit for buffering described the produced perturbed force of spacecraft flywheel and many
The individual bearing unit for supporting described spacecraft flywheel, the one side of described mounting platform is installed on the bottom surface of spacecraft flywheel,
Another side is connected with described vibration isolation unit；
The one side of described bearing unit is connected with described vibration isolation unit, and another side is connected with described spacecraft cabin；
Described vibration isolation unit is the folded beam structure being made up of elastomeric material, and described vibration isolation unit is in described spacecraft flywheel
Mandrel line is symmetrical, described vibration isolation unit central shaft and described spacecraft flywheel multiple degrees of freedom quilt based on folded beam structure
Dynamic isolation mounting central shaft acutangulates setting.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 1, its feature exists
In, described vibration isolation unit include the stage+module part for being connected with described mounting platform, described folded beam and for institute
Stating the support mount that bearing unit is connected, the two ends of described folded beam connect described stage+module part and described supporting respectively
Installed part.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 1 and 2, it is special
Levy and be, described folded beam include the most connected head-to-tail first beam, the second beam, the 3rd beam, the 4th beam, the 5th beam,
Six beams and the 7th beam, the first end of the first beam is connected with described support mount, the tail end of the 7th beam and described stage+module
Part is connected；The length of each even numbers beam is equal and is all higher than the length of each odd number beam.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 3, its feature exists
In, described vibration isolation unit is made up of nylon.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 3, its feature exists
In, described vibration isolation unit totally four, four limits of mounting platform it are arranged symmetrically in by square in configuration.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 2, its feature exists
In, described stage+module part is the flat board being obliquely installed and being provided with multiple through hole in the surface of described folded beam one end.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 6, its feature exists
In, described mounting platform includes rectangular platform body and the multiple inclination mounting blocks being arranged on described platform body surrounding sidewall,
Described inclination mounting blocks one side is connected with the surrounding sidewall of described platform body for plane, stretches out outside described platform body
Side is provided with the oblique installed surface for being connected with described stage+module part.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 2, its feature exists
In, the two ends of described support mount are arranged with insertion plate, and groove offered by described insertion plate.
Spacecraft flywheel multiple degrees of freedom passive vibration isolation device based on folded beam structure the most according to claim 8, its feature exists
In, described bearing unit includes support body, and support body is provided with installation towards the side of described spacecraft isolation mounting
Inclined-plane, offers adjustment tank in the support body installing inclined-plane, described adjustment tank with offer groove on described insertion plate and align
Install.
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| CN110667889A (en) * | 2019-12-09 | 2020-01-10 | 北京千乘探索科技有限公司 | Remote sensing satellite load adapter with flexible hinge |
| CN112343960A (en) * | 2020-11-05 | 2021-02-09 | 北京理工大学 | Six-degree-of-freedom ground vibration isolation system |
| CN112590482A (en) * | 2020-12-02 | 2021-04-02 | 微控物理储能研究开发（深圳）有限公司 | Vehicle suspension system and damping method thereof |
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| CN112343960A (en) * | 2020-11-05 | 2021-02-09 | 北京理工大学 | Six-degree-of-freedom ground vibration isolation system |
| CN112590482A (en) * | 2020-12-02 | 2021-04-02 | 微控物理储能研究开发（深圳）有限公司 | Vehicle suspension system and damping method thereof |
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